git.gag.com Git - fw/altos/blob - altoslib/AltosFlightSeries.java

   1 /*
   2  * Copyright © 2017 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  */
  14
  15 package org.altusmetrum.altoslib_11;
  16
  17 import java.util.*;
  18
  19 public class AltosFlightSeries extends AltosDataListener {
  20
  21         public ArrayList<AltosTimeSeries> series;
  22
  23         public int[] indices() {
  24                 int[] indices = new int[series.size()];
  25                 for (int i = 0; i < indices.length; i++)
  26                         indices[i] = -1;
  27                 step_indices(indices);
  28                 return indices;
  29         }
  30
  31         private double time(int id, int index) {
  32                 AltosTimeSeries         s = series.get(id);
  33
  34                 if (index < 0)
  35                         return Double.NEGATIVE_INFINITY;
  36
  37                 if (index < s.values.size())
  38                         return s.values.get(index).time;
  39                 return Double.POSITIVE_INFINITY;
  40         }
  41
  42         public boolean step_indices(int[] indices) {
  43                 double  min_next = time(0, indices[0]+1);
  44
  45                 for (int i = 1; i < indices.length; i++) {
  46                         double next = time(i, indices[i]+1);
  47                         if (next < min_next)
  48                                 min_next = next;
  49                 }
  50
  51                 if (min_next == Double.POSITIVE_INFINITY)
  52                         return false;
  53
  54                 for (int i = 0; i < indices.length; i++) {
  55                         double  t = time(i, indices[i] + 1);
  56
  57                         if (t <= min_next)
  58                                 indices[i]++;
  59                 }
  60                 return true;
  61         }
  62
  63         public double time(int[] indices) {
  64                 double max = time(0, indices[0]);
  65
  66                 for (int i = 1; i < indices.length; i++) {
  67                         double t = time(i, indices[i]);
  68                         if (t >= max)
  69                                 max = t;
  70                 }
  71                 return max;
  72         }
  73
  74         public double value(String name, int[] indices) {
  75                 for (int i = 0; i < indices.length; i++) {
  76                         AltosTimeSeries s = series.get(i);
  77                         if (s.label.equals(name)) {
  78                                 int index = indices[i];
  79                                 if (index < 0)
  80                                         index = 0;
  81                                 if (index >= s.values.size())
  82                                         index = s.values.size() - 1;
  83                                 return s.values.get(index).value;
  84                         }
  85                 }
  86                 return AltosLib.MISSING;
  87         }
  88
  89         public double value_before(String name, double time) {
  90                 for (AltosTimeSeries s : series) {
  91                         if (s.label.equals(name))
  92                                 return s.value_before(time);
  93                 }
  94                 return AltosLib.MISSING;
  95         }
  96
  97         public double value_after(String name, double time) {
  98                 for (AltosTimeSeries s : series) {
  99                         if (s.label.equals(name))
 100                                 return s.value_after(time);
 101                 }
 102                 return AltosLib.MISSING;
 103         }
 104
 105         public AltosTimeSeries make_series(String label, AltosUnits units) {
 106                 return new AltosTimeSeries(label, units);
 107         }
 108
 109         public void add_series(AltosTimeSeries s) {
 110                 series.add(s);
 111         }
 112
 113         public AltosTimeSeries add_series(String label, AltosUnits units) {
 114                 AltosTimeSeries s = make_series(label, units);
 115                 add_series(s);
 116                 return s;
 117         }
 118
 119         public void remove_series(AltosTimeSeries s) {
 120                 series.remove(s);
 121         }
 122
 123         public boolean has_series(String label) {
 124                 for (AltosTimeSeries s : series)
 125                         if (s.label.equals(label))
 126                                 return true;
 127                 return false;
 128         }
 129
 130         AltosTimeSeries state_series;
 131
 132         public static final String state_name = "State";
 133
 134         public void set_state(int state) {
 135                 if (state_series == null)
 136                         state_series = add_series(state_name, AltosConvert.state_name);
 137                 else if (this.state == state)
 138                         return;
 139                 this.state = state;
 140                 state_series.add(time(), state);
 141         }
 142
 143         AltosTimeSeries accel_series;
 144
 145         public static final String accel_name = "Accel";
 146
 147         public void set_acceleration(double acceleration) {
 148                 if (accel_series == null) {
 149                         accel_series = add_series(accel_name, AltosConvert.accel);
 150                 }
 151                 accel_series.add(time(), acceleration);
 152         }
 153
 154         private void compute_accel() {
 155                 if (accel_series != null)
 156                         return;
 157
 158                 if (speed_series != null) {
 159                         AltosTimeSeries temp_series = make_series(accel_name, AltosConvert.accel);
 160                         speed_series.differentiate(temp_series);
 161                         accel_series = add_series(accel_name, AltosConvert.accel);
 162                         temp_series.filter(accel_series, 0.25);
 163                 }
 164         }
 165
 166         public void set_received_time(long received_time) {
 167         }
 168
 169         AltosTimeSeries rssi_series;
 170
 171         public static final String rssi_name = "RSSI";
 172
 173         AltosTimeSeries status_series;
 174
 175         public static final String status_name = "Radio Status";
 176
 177         public void set_rssi(int rssi, int status) {
 178                 if (rssi_series == null) {
 179                         rssi_series = add_series(rssi_name, null);
 180                         status_series = add_series(status_name, null);
 181                 }
 182                 rssi_series.add(time(), rssi);
 183                 status_series.add(time(), status);
 184         }
 185
 186         AltosTimeSeries pressure_series;
 187
 188         public static final String pressure_name = "Pressure";
 189
 190         AltosTimeSeries altitude_series;
 191
 192         public static final String altitude_name = "Altitude";
 193
 194         AltosTimeSeries height_series;
 195
 196         public static final String height_name = "Height";
 197
 198         public  void set_pressure(double pa) {
 199                 if (pressure_series == null)
 200                         pressure_series = add_series(pressure_name, AltosConvert.pressure);
 201                 pressure_series.add(time(), pa);
 202                 if (altitude_series == null)
 203                         altitude_series = add_series(altitude_name, AltosConvert.height);
 204
 205                 double altitude = AltosConvert.pressure_to_altitude(pa);
 206                 altitude_series.add(time(), altitude);
 207         }
 208
 209         private void compute_height(double ground_altitude) {
 210                 if (height_series == null) {
 211                         height_series = add_series(height_name, AltosConvert.height);
 212                         for (AltosTimeValue alt : altitude_series)
 213                                 height_series.add(alt.time, alt.value - ground_altitude);
 214                 }
 215         }
 216
 217         AltosTimeSeries speed_series;
 218
 219         public static final String speed_name = "Speed";
 220
 221         private void compute_speed() {
 222                 if (speed_series != null)
 223                         return;
 224
 225                 AltosTimeSeries alt_speed_series = null;
 226                 AltosTimeSeries accel_speed_series = null;
 227
 228                 if (altitude_series != null) {
 229                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 230                         altitude_series.differentiate(temp_series);
 231
 232                         alt_speed_series = make_series(speed_name, AltosConvert.speed);
 233                         temp_series.filter(alt_speed_series, 10.0);
 234                 }
 235                 if (accel_series != null) {
 236                         AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
 237                         accel_series.integrate(temp_series);
 238
 239                         accel_speed_series = make_series(speed_name, AltosConvert.speed);
 240                         temp_series.filter(accel_speed_series, 0.1);
 241                 }
 242
 243                 if (alt_speed_series != null && accel_speed_series != null) {
 244                         double  apogee_time = AltosLib.MISSING;
 245                         if (state_series != null) {
 246                                 for (AltosTimeValue d : state_series) {
 247                                         if (d.value >= AltosLib.ao_flight_drogue){
 248                                                 apogee_time = d.time;
 249                                                 break;
 250                                         }
 251                                 }
 252                         }
 253                         if (apogee_time == AltosLib.MISSING) {
 254                                 speed_series = alt_speed_series;
 255                         } else {
 256                                 speed_series = make_series(speed_name, AltosConvert.speed);
 257                                 for (AltosTimeValue d : accel_speed_series) {
 258                                         if (d.time <= apogee_time)
 259                                                 speed_series.add(d);
 260                                 }
 261                                 for (AltosTimeValue d : alt_speed_series) {
 262                                         if (d.time > apogee_time)
 263                                                 speed_series.add(d);
 264                                 }
 265
 266                         }
 267                 } else if (alt_speed_series != null) {
 268                         speed_series = alt_speed_series;
 269                 } else if (accel_speed_series != null) {
 270                         speed_series = accel_speed_series;
 271                 }
 272                 if (speed_series != null)
 273                         add_series(speed_series);
 274         }
 275
 276         AltosTimeSeries kalman_height_series, kalman_speed_series, kalman_accel_series;
 277
 278         public static final String kalman_height_name = "Kalman Height";
 279         public static final String kalman_speed_name = "Kalman Speed";
 280         public static final String kalman_accel_name = "Kalman Accel";
 281
 282         public void set_kalman(double height, double speed, double acceleration) {
 283                 if (kalman_height_series == null) {
 284                         kalman_height_series = add_series(kalman_height_name, AltosConvert.height);
 285                         kalman_speed_series = add_series(kalman_speed_name, AltosConvert.speed);
 286                         kalman_accel_series = add_series(kalman_accel_name, AltosConvert.accel);
 287                 }
 288                 kalman_height_series.add(time(), height);
 289                 kalman_speed_series.add(time(), speed);
 290                 kalman_accel_series.add(time(), acceleration);
 291         }
 292
 293         AltosTimeSeries thrust_series;
 294
 295         public static final String thrust_name = "Thrust";
 296
 297         public  void set_thrust(double N) {
 298                 if (thrust_series == null)
 299                         thrust_series = add_series(thrust_name, AltosConvert.force);
 300                 thrust_series.add(time(), N);
 301         }
 302
 303         AltosTimeSeries temperature_series;
 304
 305         public static final String temperature_name = "Temperature";
 306
 307         public  void set_temperature(double deg_c) {
 308                 if (temperature_series == null)
 309                         temperature_series = add_series(temperature_name, AltosConvert.temperature);
 310                 temperature_series.add(time(), deg_c);
 311         }
 312
 313         AltosTimeSeries battery_voltage_series;
 314
 315         public static final String battery_voltage_name = "Battery Voltage";
 316
 317         public void set_battery_voltage(double volts) {
 318                 if (volts == AltosLib.MISSING)
 319                         return;
 320                 if (battery_voltage_series == null)
 321                         battery_voltage_series = add_series(battery_voltage_name, AltosConvert.voltage);
 322                 battery_voltage_series.add(time(), volts);
 323         }
 324
 325         AltosTimeSeries apogee_voltage_series;
 326
 327         public static final String apogee_voltage_name = "Apogee Voltage";
 328
 329         public void set_apogee_voltage(double volts) {
 330                 if (volts == AltosLib.MISSING)
 331                         return;
 332                 if (apogee_voltage_series == null)
 333                         apogee_voltage_series = add_series(apogee_voltage_name, AltosConvert.voltage);
 334                 apogee_voltage_series.add(time(), volts);
 335         }
 336
 337         AltosTimeSeries main_voltage_series;
 338
 339         public static final String main_voltage_name = "Main Voltage";
 340
 341         public void set_main_voltage(double volts) {
 342                 if (volts == AltosLib.MISSING)
 343                         return;
 344                 if (main_voltage_series == null)
 345                         main_voltage_series = add_series(main_voltage_name, AltosConvert.voltage);
 346                 main_voltage_series.add(time(), volts);
 347         }
 348
 349         public ArrayList<AltosGPSTimeValue> gps_series;
 350
 351         public AltosGPS gps_before(double time) {
 352                 AltosGPS gps = null;
 353                 for (AltosGPSTimeValue gtv : gps_series)
 354                         if (gtv.time <= time)
 355                                 gps = gtv.gps;
 356                         else
 357                                 break;
 358                 return gps;
 359         }
 360
 361         AltosTimeSeries sats_in_view;
 362         AltosTimeSeries sats_in_soln;
 363         AltosTimeSeries gps_altitude;
 364         AltosTimeSeries gps_height;
 365         AltosTimeSeries gps_ground_speed;
 366         AltosTimeSeries gps_ascent_rate;
 367         AltosTimeSeries gps_course;
 368         AltosTimeSeries gps_speed;
 369         AltosTimeSeries gps_pdop, gps_vdop, gps_hdop;
 370
 371         public static final String sats_in_view_name = "Satellites in view";
 372         public static final String sats_in_soln_name = "Satellites in solution";
 373         public static final String gps_altitude_name = "GPS Altitude";
 374         public static final String gps_height_name = "GPS Height";
 375         public static final String gps_ground_speed_name = "GPS Ground Speed";
 376         public static final String gps_ascent_rate_name = "GPS Ascent Rate";
 377         public static final String gps_course_name = "GPS Course";
 378         public static final String gps_speed_name = "GPS Speed";
 379         public static final String gps_pdop_name = "GPS Dilution of Precision";
 380         public static final String gps_vdop_name = "GPS Vertical Dilution of Precision";
 381         public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
 382
 383         public void set_gps(AltosGPS gps) {
 384                 if (gps_series == null)
 385                         gps_series = new ArrayList<AltosGPSTimeValue>();
 386                 gps_series.add(new AltosGPSTimeValue(time(), gps));
 387
 388                 if (sats_in_soln == null) {
 389                         sats_in_soln = add_series(sats_in_soln_name, null);
 390                 }
 391                 sats_in_soln.add(time(), gps.nsat);
 392                 if (gps.pdop != AltosLib.MISSING) {
 393                         if (gps_pdop == null) {
 394                                 gps_pdop = add_series(gps_pdop_name, null);
 395                                 gps_hdop = add_series(gps_hdop_name, null);
 396                                 gps_vdop = add_series(gps_vdop_name, null);
 397                         }
 398                         gps_pdop.add(time(), gps.pdop);
 399                         gps_hdop.add(time(), gps.hdop);
 400                         gps_vdop.add(time(), gps.vdop);
 401                 }
 402                 if (gps.locked) {
 403                         if (gps_altitude == null) {
 404                                 gps_altitude = add_series(gps_altitude_name, AltosConvert.height);
 405                                 gps_height = add_series(gps_height_name, AltosConvert.height);
 406                                 gps_ground_speed = add_series(gps_ground_speed_name, AltosConvert.speed);
 407                                 gps_ascent_rate = add_series(gps_ascent_rate_name, AltosConvert.speed);
 408                                 gps_course = add_series(gps_course_name, null);
 409                                 gps_speed = add_series(gps_speed_name, null);
 410                         }
 411                         if (gps.alt != AltosLib.MISSING) {
 412                                 gps_altitude.add(time(), gps.alt);
 413                                 if (cal_data.gps_pad != null)
 414                                         gps_height.add(time(), gps.alt - cal_data.gps_pad.alt);
 415                         }
 416                         if (gps.ground_speed != AltosLib.MISSING)
 417                                 gps_ground_speed.add(time(), gps.ground_speed);
 418                         if (gps.climb_rate != AltosLib.MISSING)
 419                                 gps_ascent_rate.add(time(), gps.climb_rate);
 420                         if (gps.course != AltosLib.MISSING)
 421                                 gps_course.add(time(), gps.course);
 422                         if (gps.ground_speed != AltosLib.MISSING && gps.climb_rate != AltosLib.MISSING)
 423                                 gps_speed.add(time(), Math.sqrt(gps.ground_speed * gps.ground_speed +
 424                                                                 gps.climb_rate * gps.climb_rate));
 425                 }
 426                 if (gps.cc_gps_sat != null) {
 427                         if (sats_in_view == null)
 428                                 sats_in_view = add_series(sats_in_view_name, null);
 429                         sats_in_view.add(time(), gps.cc_gps_sat.length);
 430                 }
 431         }
 432
 433         public static final String accel_along_name = "Accel Along";
 434         public static final String accel_across_name = "Accel Across";
 435         public static final String accel_through_name = "Accel Through";
 436
 437         AltosTimeSeries accel_along, accel_across, accel_through;
 438
 439         public static final String gyro_roll_name = "Roll Rate";
 440         public static final String gyro_pitch_name = "Pitch Rate";
 441         public static final String gyro_yaw_name = "Yaw Rate";
 442
 443         AltosTimeSeries gyro_roll, gyro_pitch, gyro_yaw;
 444
 445         public static final String mag_along_name = "Magnetic Field Along";
 446         public static final String mag_across_name = "Magnetic Field Across";
 447         public static final String mag_through_name = "Magnetic Field Through";
 448
 449         AltosTimeSeries mag_along, mag_across, mag_through;
 450
 451         public  void set_accel(double along, double across, double through) {
 452                 if (accel_along == null) {
 453                         accel_along = add_series(accel_along_name, AltosConvert.accel);
 454                         accel_across = add_series(accel_across_name, AltosConvert.accel);
 455                         accel_through = add_series(accel_through_name, AltosConvert.accel);
 456                 }
 457                 accel_along.add(time(), along);
 458                 accel_across.add(time(), across);
 459                 accel_through.add(time(), through);
 460         }
 461
 462         public  void set_accel_ground(double along, double across, double through) {
 463         }
 464
 465         public  void set_gyro(double roll, double pitch, double yaw) {
 466                 if (gyro_roll == null) {
 467                         gyro_roll = add_series(gyro_roll_name, AltosConvert.rotation_rate);
 468                         gyro_pitch = add_series(gyro_pitch_name, AltosConvert.rotation_rate);
 469                         gyro_yaw = add_series(gyro_yaw_name, AltosConvert.rotation_rate);
 470                 }
 471                 gyro_roll.add(time(), roll);
 472                 gyro_pitch.add(time(), pitch);
 473                 gyro_yaw.add(time(), yaw);
 474         }
 475
 476         public  void set_mag(double along, double across, double through) {
 477                 if (mag_along == null) {
 478                         mag_along = add_series(mag_along_name, AltosConvert.magnetic_field);
 479                         mag_across = add_series(mag_across_name, AltosConvert.magnetic_field);
 480                         mag_through = add_series(mag_through_name, AltosConvert.magnetic_field);
 481                 }
 482                 mag_along.add(time(), along);
 483                 mag_across.add(time(), across);
 484                 mag_through.add(time(), through);
 485         }
 486
 487         public static final String orient_name = "Tilt Angle";
 488
 489         AltosTimeSeries orient_series;
 490
 491         public void set_orient(double orient) {
 492                 if (orient_series == null)
 493                         orient_series = add_series(orient_name, AltosConvert.orient);
 494                 orient_series.add(time(), orient);
 495         }
 496
 497         public static final String pyro_voltage_name = "Pyro Voltage";
 498
 499         AltosTimeSeries pyro_voltage;
 500
 501         public  void set_pyro_voltage(double volts) {
 502                 if (pyro_voltage == null)
 503                         pyro_voltage = add_series(pyro_voltage_name, AltosConvert.voltage);
 504                 pyro_voltage.add(time(), volts);
 505         }
 506
 507         private static String[] igniter_voltage_names;
 508
 509         public String igniter_voltage_name(int channel) {
 510                 if (igniter_voltage_names == null || igniter_voltage_names.length <= channel) {
 511                         String[] new_igniter_voltage_names = new String[channel + 1];
 512                         int     i = 0;
 513
 514                         if (igniter_voltage_names != null) {
 515                                 for (; i < igniter_voltage_names.length; i++)
 516                                         new_igniter_voltage_names[i] = igniter_voltage_names[i];
 517                         }
 518                         for (; i < channel+1; i++)
 519                                 new_igniter_voltage_names[i] = AltosLib.igniter_name(i);
 520                         igniter_voltage_names = new_igniter_voltage_names;
 521                 }
 522                 return igniter_voltage_names[channel];
 523         }
 524
 525         AltosTimeSeries[] igniter_voltage;
 526
 527         public  void set_igniter_voltage(double[] voltage) {
 528                 int channels = voltage.length;
 529                 if (igniter_voltage == null || igniter_voltage.length <= channels) {
 530                         AltosTimeSeries[]       new_igniter_voltage = new AltosTimeSeries[channels + 1];
 531                         int                     i = 0;
 532
 533                         if (igniter_voltage != null) {
 534                                 for (; i < igniter_voltage.length; i++)
 535                                         new_igniter_voltage[i] = igniter_voltage[i];
 536                         }
 537                         for (; i < channels; i++)
 538                                 new_igniter_voltage[i] = add_series(igniter_voltage_name(i), AltosConvert.voltage);
 539                         igniter_voltage = new_igniter_voltage;
 540                 }
 541                 for (int channel = 0; channel < voltage.length; channel++)
 542                         igniter_voltage[channel].add(time(), voltage[channel]);
 543         }
 544
 545         public static final String pyro_fired_name = "Pyro Channel State";
 546
 547         AltosTimeSeries pyro_fired_series;
 548
 549         int     last_pyro_mask;
 550
 551         public  void set_pyro_fired(int pyro_mask) {
 552                 if (pyro_fired_series == null)
 553                         pyro_fired_series = add_series(pyro_fired_name, AltosConvert.pyro_name);
 554                 for (int channel = 0; channel < 32; channel++) {
 555                         if ((last_pyro_mask & (1 << channel)) == 0 &&
 556                             (pyro_mask & (1 << channel)) != 0) {
 557                                 pyro_fired_series.add(time(), channel);
 558                         }
 559                 }
 560                 last_pyro_mask = pyro_mask;
 561         }
 562
 563         public void set_companion(AltosCompanion companion) {
 564         }
 565
 566         public void fill_in() {
 567                 compute_speed();
 568                 compute_accel();
 569                 if (cal_data.ground_altitude != AltosLib.MISSING)
 570                         compute_height(cal_data.ground_altitude);
 571         }
 572
 573         public void init() {
 574                 time = AltosLib.MISSING;
 575                 series = new ArrayList<AltosTimeSeries>();
 576         }
 577
 578         public AltosTimeSeries[] series() {
 579                 fill_in();
 580                 return series.toArray(new AltosTimeSeries[0]);
 581         }
 582
 583         public AltosFlightSeries(AltosCalData cal_data) {
 584                 super(cal_data);
 585                 init();
 586         }
 587 }